arm.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <include file="$(find arm)/launch/openni2.launch" />
   4
   5         <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
   6                 <remap from="image" to="/camera/depth/image_raw"/>
   7                 <remap from="camera_info" to="/camera/depth/camera_info"/>
   8                 <param name="output_frame_id" value="/scan" />
   9         </node>
  10
  11         <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
  12         <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  13 </launch>